(:trajectory

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (navigate rover0 waypoint0 waypoint1))

(:state (at rover0 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (calibrate rover0 camera0 objective0 waypoint1))

(:state (at rover0 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibrated camera0 rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (take_image rover0 waypoint1 objective0 camera0 low_res))

(:state (at rover0 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (have_image rover0 objective0 low_res) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (navigate rover0 waypoint1 waypoint0))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (have_image rover0 objective0 low_res) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (communicate_image_data rover0 general objective0 low_res waypoint0 waypoint2))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint0) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (have_image rover0 objective0 low_res) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (sample_soil rover0 rover0store waypoint0))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (communicate_soil_data rover0 general waypoint0 waypoint0 waypoint2))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (navigate rover0 waypoint0 waypoint2))

(:state (at rover0 waypoint2) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (drop rover0 rover0store))

(:state (at rover0 waypoint2) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (sample_soil rover0 rover0store waypoint2))

(:state (at rover0 waypoint2) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (navigate rover0 waypoint2 waypoint0))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

(:action (communicate_soil_data rover0 general waypoint2 waypoint0 waypoint2))

(:state (at rover0 waypoint0) (at_lander general waypoint2) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (available rover0) (calibration_target camera0 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (channel_free general) (communicated_image_data objective0 low_res) (communicated_soil_data waypoint0) (communicated_soil_data waypoint2) (equipped_for_imaging rover0) (equipped_for_soil_analysis rover0) (full rover0store) (have_image rover0 objective0 low_res) (have_soil_analysis rover0 waypoint0) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover0) (store_of rover0store rover0) (supports camera0 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2))

)